diff --git a/fd_description/ros2_control/fd.r2c_hardware.xacro b/fd_description/ros2_control/fd.r2c_hardware.xacro
index 95faaa9..e08be80 100644
--- a/fd_description/ros2_control/fd.r2c_hardware.xacro
+++ b/fd_description/ros2_control/fd.r2c_hardware.xacro
@@ -12,7 +12,7 @@
                     <plugin>fd_hardware/FDEffortHardwareInterface</plugin>
                     <param name="interface_id">${interface_id}</param>
                     <param name="emulate_button">${emulate_button}</param>
-                    <param name="inertia_interface_name">fd_inertia</param>
+                    <param name="inertia_interface_name">${robot_id}_inertia</param>
                     <param name="effector_mass">${effector_mass}</param>
                     <param name="ignore_orientation_readings">${ignore_orientation_readings}</param>
                 </xacro:unless>